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Add enable charging service #47

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merged 1 commit into from
Jul 1, 2024
Merged

Add enable charging service #47

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13 changes: 13 additions & 0 deletions interbotix_ros_slate/interbotix_slate_driver/include/interbotix_slate_driver/slate_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@ class SlateBase
// Motor status service server
ros::ServiceServer srv_motor_torque_status_;

// Set charge enable service server
ros::ServiceServer srv_enable_charing_;

// Name of odom frame
std::string odom_frame_name_;

Expand Down Expand Up @@ -147,6 +150,16 @@ class SlateBase
std_srvs::SetBool::Request & req,
std_srvs::SetBool::Response & res);

/**
* @brief Process incoming enable charing service request
* @param req Service request containing desired desired charing enable status
* @param res[out] Service response containing a success indication and a message
* @return True if service succeeded, false otherwise
*/
bool enable_charing_callback(
std_srvs::SetBool::Request & req,
std_srvs::SetBool::Response & res);

/**
* @brief Wrap angle
* @param angle Angle to wrap in radians
Expand Down
21 changes: 21 additions & 0 deletions interbotix_ros_slate/interbotix_slate_driver/src/slate_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,11 @@ SlateBase::SlateBase(ros::NodeHandle * node_handle)
&SlateBase::motor_torque_status_callback,
this);

srv_enable_charing_ = node.advertiseService(
"enable_charging",
&SlateBase::enable_charing_callback,
this);

std::string dev;
if (!base_driver::chassisInit(dev)) {
ROS_FATAL("Failed to initialize base.");
Expand Down Expand Up @@ -168,6 +173,22 @@ bool SlateBase::motor_torque_status_callback(
return res.success;
}

bool SlateBase::enable_charing_callback(
std_srvs::SetBool::Request & req,
std_srvs::SetBool::Response & res)
{
res.success = base_driver::setCharge(req.data);
std::string enabled_disabled = req.data ? "enable" : "disable";
if (res.success) {
res.message = "Successfully " + enabled_disabled + "d charging.";
ROS_INFO(res.message.c_str());
} else {
res.message = "Failed to " + enabled_disabled + " charging.";
ROS_ERROR(res.message.c_str());
}
return res.success;
}

float SlateBase::wrap_angle(float angle)
{
if (angle > M_PI) {
Expand Down